The main problem for bipedal robots that makes them still impractical is the hardware expense (wheels are simpler and cheaper) and the power supply required, so for most use cases it's more efficient to use something other than a bipedal robot and there's limited business application and future revenue in scaling up research demos of bipedal walking to practicality, so most people who are working on walking algorithms are doing so in simulated virtual environments (where we have algorithms that can learn walking and running "from scratch" through experimentation) and not building very expensive hardware.
Current self driving car technology is sufficient for most purposes, except to actually drive on roads. So for those walking robots, can they run or even walk through a crowd without hitting people? A normal 15 year old human can do it, and that is the level you need to be to release it among people.
Here's Boston Dynamic's robot doing Parkour and gymnastics: https://www.youtube.com/watch?v=_sBBaNYex3E
It's not national level gymnastics but it's better co-ordinated than most humans.
Boston Dynamics use control-systems style robotic control. This is different to ML-style control where the system learns to perform tasks.
But that's different to "pre-programmed sequence". They don't program the individual servo movements for each movement - instead they give it the motions to perform and the control-systems balance the robot automatically.
(This is what the OP implied by the word "algorithms" anyway right?)
